CN104296651B - Multiple-supporting-arm and multiple-joint angle integration parallel detection system based on flexible fabric - Google Patents
Multiple-supporting-arm and multiple-joint angle integration parallel detection system based on flexible fabric Download PDFInfo
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- CN104296651B CN104296651B CN201410572180.0A CN201410572180A CN104296651B CN 104296651 B CN104296651 B CN 104296651B CN 201410572180 A CN201410572180 A CN 201410572180A CN 104296651 B CN104296651 B CN 104296651B
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Abstract
A multiple-joint angle integration parallel detection system based on flexible fabric comprises a first polypyrrole fabric conductive cable output bus, a second polypyrrole fabric conductive cable output bus, an elastic electric insulation base layer, a microswitch, first sensing pole plates and second sensing pole plates, wherein one first sensing pole plate and one second sensing pole plate are placed on the two sides of each joint. Flexible polyimide insulation protective layers are arranged on the sensing pole plates, and each sensing pole plate is of a sensing unit structure and comprises a polypyrrole conductive fabric capacitance pole plate and a polypyrrole conductive fabric ground layer which face each other. A conductive silicon rubber shielding layer is arranged between each polypyrrole conductive fabric capacitance pole plate and the corresponding polypyrrole conductive fabric ground layer. The gap between each polypyrrole conductive fabric capacitance pole plate and the corresponding conductive silicon rubber shielding layer is filled with a first flexible epoxy resin insulation layer, and a second flexible epoxy resin insulation layer is arranged between each conductive silicon rubber shielding layer and the corresponding polypyrrole conductive fabric ground layer. The elastic electric insulation base layer is arranged under the sensing pole plates.
Description
Technical field
The present invention relates to signal detection, sensing technology and transmission technique field and in particular to a kind of based on flexible fabric
Multi-joint angle integration paralleled detection systems are it is adaptable to the field such as intelligent robot, motion monitoring and medical monitoring.
Background technology
Angular surveying obtains angular signal, converted one-tenth circuit parameter amount generally by sensor, then passes through conversion electricity
Road is converted into electric signal output.Modern angle measurement technique species is more, in motor, automobile, Shipping, traffic, machine
The many-sides such as tool manufacture, oil, metallurgy obtain a wide range of applications.
At present, angle detecting sensor huge number, senses by being divided into non-flexible angle detection for its sensing material
Device and flexible angle detecting sensor.Inflexibility angle detecting sensor is usually to be made up of rigid material, by machinery
The both sides being arranged on angle measurement carry out angular surveying.Typical inflexibility angle detecting sensor has：Laser interference goniometer,
Grating type angle sensor, Hall angular transducer etc..Laser interference goniometer, has the advantages that accuracy is high, but it is surveyed
Amount device complexity is it is more difficult to use so that the operation strategies of this sensor are subject to certain restrictions；Grating type angle sensor,
Accuracy is high, resolving power is high and reliable and stable, but it is larger to be affected by the external environment, and its volume is also larger；Hall angle sensor
Device, Hall angular transducer designs according to Hall effect, and it measures, and angular range is big, and structure is simple, low production cost,
But it is subject to outside electromagnetic interference larger.These angle detecting sensors are all non-flexible, and the even weight having is very big, to people
The proper motion of body causes obstacle, and easily human body skin is caused with the injury such as scuffing in human motion.
Flexible angle detecting sensor is the sensor as detector unit, angle being detected using flexible material.Mesh
Before, the sensor in a kind of flexible shoulder joint motion sensor of Li Jianqing of Southeast China University et al. invention and its measuring method will
PCB sensing plate is sewn on fabric it is achieved that mode of only need to dressing can achieve the measurement to joint angles, stupid before changing
Heavy, complicated, harsh testing conditions.But the method is not implemented the full flexible of sensing plate, also can only realize tradition simultaneously
Two pieces of pole plates survey joint angles, and when multi-joint angle detection is carried out using the method, detector unit and its supporting survey
Amount number of leads accordingly increases, and leads to that detecting system volume is big, weight weight, thus leading to the hinder sense in joint significantly to increase
Plus, simultaneity factor with high costs, detecting system is complicated and reduce its reliability；And using traditional earth-shielded side
Formula, the accuracy of the capacitance variations appreciable impact joint angles testing result between holding wire and ground wire；The Chinese Academy of Sciences is automatic
The Flexiable angular transducer of former chief's teaching inventive changing institute, by the use of thin film flexible force sensing resistance as sensing material, is used for
Angle between Measuring Object surface curvature angle or two objects, is capable of detection and does not hinder human motion, but basis
The interaction principle of power carries out angle detection, still can bring obstacle sense to detection object.These angle detection devices are all
Partially flexible, and for multi-joint angle detection, with the increase of joint angles, the signal transmssion line drawn also and then increases
Plus, lead to the extraction wire of joint the closer to detection means more；Meanwhile, multiple capacitance detecting chips occupy very big
Space, causes obstacle to the proper motion of human body.
The rigidity detection device of inflexibility angle detecting sensor, hardness height is it is impossible to meet WD motion detection
Requirement；Flexible angle detecting sensor is not carried out whole flexibilities of sensor, the motion of human body is still existed very big
Obstacle sense.It is therefore proposed that a kind of non-contacting Flexible Multi-joint angle detecting sensor, realize to human body multi-joint angle
Wd detection.
Content of the invention
The present invention provides a kind of integration paralleled detection systems of many support arms multi-joint angle based on flexible fabric, the present invention
Obstacle sense when with flexible reduction joint motions, guarantee joint motions can eliminate, while flexible, the letter being brought by flexibility again
Number interference.
The present invention adopts the following technical scheme that：
A kind of many support arms multi-joint angle integration paralleled detection systems based on flexible fabric of the present invention, bag
Include：First polypyrrole fabric conductor cable output bus, the second polypyrrole fabric conductor cable output bus, elasticity electric insulation base
Microswitch that bottom is corresponded with each support arm and be located at respectively the first sensing pole plate of each joint both sides, second
Sensing pole plate, is provided with flexible polyimide insulating protective layer, described first biography in the first sensing pole plate and the second sensing pole plate
Sense pole plate and the second sensing pole plate adopt sensing unit structures, and described sensing unit structures include facing polypyrrole conduction and knit
Thing capacitor plate and polypyrrole conductive fabric stratum, polypyrrole conductive fabric capacitor plate and polypyrrole conductive fabric stratum it
Between be provided with conductive silicon rubber screen layer, be filled between polypyrrole conductive fabric capacitor plate and conductive silicon rubber screen layer
One flexible-epoxy insulating barrier, is provided with the second flexible ring between conductive silicon rubber screen layer and polypyrrole conductive fabric stratum
Oxygen resin insulating barrier, described polypyrrole conductive fabric capacitor plate is located on the lower surface of flexible polyimide insulating protective layer,
Described polypyrrole conductive fabric stratum is located on the upper surface of elastic electrical insulating substrate layer, the fine motion of one of adjacent microswitch
One end of switch is passed through shielded conductor and is connected with the polypyrrole conductive fabric capacitor plate in the first corresponding sensing pole plate, phase
The other end of one of adjacent microswitch microswitch passes through shielded conductor and the first polypyrrole fabric conductor cable always exports
Line connects, and shielded conductor and the second corresponding sensing pole plate are passed through in one end of another microswitch in adjacent microswitch
In polypyrrole conductive fabric capacitor plate connect, the other end of another microswitch in adjacent microswitch passes through shielding
Wire is connected with the second polypyrrole fabric conductor cable output bus, is additionally provided with voltage follow in described sensing unit structures
Device, the in-phase end of one of neighboring voltage follower voltage follower is led with the polypyrrole fabric of corresponding shielded conductor respectively
Electric wire cable signals layer and polypyrrole conductive fabric capacitor plate connect, the described end of oppisite phase of a voltage follower with described
The outfan of one voltage follower connects and the polypyrrole conductive fabric screen layer with corresponding shielded conductor, the first polypyrrole
The conductive silicon rubber screen layer of fabric conductor cable output bus polypyrrole conductive fabric screen layer and shielded conductor connects, adjacent
The in-phase end of another voltage follower in the voltage follower polypyrrole fabric conductor wire with corresponding shielded conductor respectively
Cable signals layer and polypyrrole conductive fabric capacitor plate connect, and the described end of oppisite phase of another voltage follower is another with described
The outfan of one voltage follower connects and the polypyrrole conductive fabric screen layer with corresponding shielded conductor, the second polypyrrole
The conductive silicon rubber screen layer of fabric conductor cable output bus polypyrrole conductive fabric screen layer and shielded conductor connects.
A kind of four support arm three joint angles detection sensor-based system based on flexible fabric of the present invention, including：Elasticity
Electrical insulating substrate layer, respectively with four support arms in first support arm, second support arm, the 3rd support arm and the 4th support arm correspond
First microswitch, the second microswitch, the 3rd microswitch, the 4th microswitch and front end sensing pole plate assembly, secondary before
End sensing pole plate assembly, secondary rear end sensing pole plate assembly, rear end sensing pole plate assembly, front end sensing pole plate assembly is located at the first pass
The front end of section, secondary front end sensing pole plate assembly is located between the first joint and second joint, and secondary rear end sensing pole plate assembly is located at
Between second joint and the 3rd joint, rear end sensing pole plate assembly be located at the 3rd joint rear end, front end sensing pole plate assembly,
Secondary front end sensing pole plate assembly, secondary rear end sensing pole plate assembly and rear end sensing pole plate assembly are provided with flexible polyimide insulation
Protective layer, front end sensing pole plate assembly, secondary front end sensing pole plate assembly, secondary rear end sensing pole plate assembly and rear end sensing pole plate group
Part adopts sensing unit structures, and described sensing unit structures include facing polypyrrole conductive fabric capacitor plate and polypyrrole
Conductive fabric stratum, is provided with conductive silicon rubber screen between polypyrrole conductive fabric capacitor plate and polypyrrole conductive fabric stratum
Cover layer, be filled with the first flexible-epoxy insulation between polypyrrole conductive fabric capacitor plate and conductive silicon rubber screen layer
Layer, is provided with the second flexible-epoxy insulating barrier between conductive silicon rubber screen layer and polypyrrole conductive fabric stratum, described
Polypyrrole conductive fabric capacitor plate is located on the lower surface of flexible polyimide insulating protective layer, described polypyrrole conductive fabric
Stratum is located on the upper surface of elastic electrical insulating substrate layer, and one end of described first microswitch is passed through shielded conductor and passed with front end
The polypyrrole conductive fabric capacitor plate of sense pole plate assembly connects, and the other end of the first microswitch is led with the first polypyrrole fabric
Electric wire cable output bus connects, and shielded conductor and time polypyrrole of front end sensing pole plate assembly are passed through in one end of the second microswitch
Conductive fabric capacitor plate connects, and the other end of the second microswitch and the second polypyrrole fabric conductor cable output bus are even
Connect, shielded conductor and time polypyrrole conductive fabric capacitor plate of rear end sensing pole plate assembly are passed through in one end of the 3rd microswitch
Connect, the other end of the 3rd microswitch is connected with the first polypyrrole fabric conductor cable output bus, the 4th microswitch
One end is connected with the polypyrrole conductive fabric capacitor plate of rear end sensing pole plate assembly by shielded conductor, the 4th microswitch
The other end is connected with the second polypyrrole fabric conductor cable output bus, is additionally provided with voltage follow in described sensing unit structures
The in-phase end of the voltage follower in device, front end sensing pole plate assembly and secondary rear end sensing pole plate assembly is shielded with corresponding respectively
The polypyrrole fabric conductor cable signals layer of wire and polypyrrole conductive fabric capacitor plate connect, front end sensing pole plate assembly and
The end of oppisite phase of voltage follower in the sensing pole plate assembly of secondary rear end is connected with the outfan of described voltage follower, and with corresponding
The polypyrrole conductive fabric screen layer of shielded conductor, the polypyrrole conduction of the first polypyrrole fabric conductor cable output bus knits
Thing screen layer and conductive silicon rubber screen layer connect, the voltage in secondary front end sensing pole plate assembly and rear end sensing pole plate assembly with
In-phase end polypyrrole fabric conductor cable signals layer and the polypyrrole conductive fabric electricity with corresponding shielded conductor respectively with device
Hold pole plate connection, the end of oppisite phase of voltage follower in secondary front end sensing pole plate assembly and rear end sensing pole plate assembly and described electricity
The outfan of pressure follower connects, and the polypyrrole conductive fabric screen layer with corresponding shielded conductor, the second polypyrrole fabric
The polypyrrole conductive fabric screen layer of conductor cable output bus and conductive silicon rubber screen layer connect.
The beneficial effects of the present invention is：
1. the capacitor plate in traditional detection scheme adopts rigid material, makes joint motions there is certain obstacle sense, and
The sensing pole plate of the present invention decreases pass using flexible material so that pole plate can bend with the motion in joint or stretch
The obstacle sense of section motion.But the polypyrrole conductive fabric capacitor plate layer of the sensing pole plate being made up of flexible material and conductive silicon
Can be with the bending of joint angles or stretching between rubber screen layer, conductive silicon rubber screen layer and polypyrrole conductive fabric stratum
And produce small displacement, thus affecting the accuracy of testing result, in order to solve this problem, the present invention is conductive by polypyrrole
Fabric capacitor pole plate layer is connected with the in-phase end of voltage follower, the end of oppisite phase of voltage follower and the outfan of voltage follower
Connect, conductive silicon rubber screen layer is connected with the outfan of voltage follower, in the presence of voltage follower, conductive silicon rubber
Screen layer shields the impact to polypyrrole conductive fabric capacitor plate layer for the polypyrrole conductive fabric stratum it is achieved that to polypyrrole
The driving shielding of conductive fabric capacitor plate layer signal, when solving flexible sensing plate buckling, causes polypyrrole conductive fabric
Between the electric capacity between capacitance pole flaggy and conductive silicon rubber screen layer, conductive silicon rubber screen layer and polypyrrole conductive fabric stratum
Electromagnetic field change, thus affect between floating type polypyrrole conductive fabric capacitor plate electromagnetic field change, lead to detect
The problem of result error, and wrapped up to whole pole plate with polypyrrole conductive fabric stratum, it is to avoid conductive silicon rubber screen
Cover the interference to other all circuit of the electromagnetic signal of layer, it also avoid electrostatic that human body friction produces to polypyrrole conductive fabric
The interference of capacitor plate layer signal.
2. the wire in traditional detection scheme could be used without the common copper cash of shield technology, in this case, if wire mistake
Long, the result making capacitance detecting is produced larger error by the coupled capacitor between wire, though and adopting earth-shielded coaxial cable
The impact of the coupled capacitor between wire so can be eliminated, but coaxial wire is too thick so that the motion in joint has obvious barrier
Hinder sense, thus the shielded conductor of the present invention adopt flexible material so that shielded conductor can be random bending or stretching, decrease
The obstacle sense of joint motions.But the polypyrrole fabric conductor cable signals layer of the shielded conductor being made up of flexible material and poly- pyrrole
Cough up and can produce small displacement with bending or the stretching of joint angles between conductive fabric screen layer, thus affecting detection knot
The accuracy of fruit, so the present invention is using in shielded conductor, polypyrrole fabric conductor cable signals layer and its voltage follower
In-phase end be connected, the end of oppisite phase of voltage follower is connected with the outfan of voltage follower, polypyrrole conductive fabric screen layer
It is connected with the outfan of its voltage follower, in the presence of voltage follower, polypyrrole conductive fabric screen layer shields outer
Boundary's electromagnetic signal is to the interference of polypyrrole fabric conductor cable signals layer it is achieved that believing to polypyrrole fabric conductor cable signals layer
Number driving shielding so that polypyrrole conductive fabric shielding layer signal to polypyrrole fabric conductor cable signal layer signal in phase place
With the accurate tracking in amplitude, polypyrrole fabric conductor cable signals layer and polypyrrole in traditional earth-shielded schematic diagram mode were both eliminated
The impact of the distribution capacity between conductive fabric stratum, eliminates again and produces coupling between the wire causing because wire is long
The impact of electric capacity.
3. the excitation end of capacitance detecting chips is micro- with second respectively by the first polypyrrole fabric conductor cable output bus
Dynamic switch, one end of the 4th microswitch connect, and the second microswitch, the other end of the 4th microswitch are divided by shielded conductor
Not with time front end sensing pole plate polypyrrole conductive fabric capacitor plate, rear end sensing pole plate polypyrrole conductive fabric capacitor plate even
Connect, the signal input part of capacitance detecting chips is opened with the first fine motion respectively by the second polypyrrole fabric conductor cable output bus
Close, one end of the 3rd microswitch connects, the first microswitch, the other end of the 3rd microswitch pass through shielded conductor respectively with
Front end sensing pole plate polypyrrole conductive fabric capacitor plate, secondary rear end sensing pole plate polypyrrole conductive fabric capacitor plate connect.
Pass through shielded conductor between each sensing pole plate and microswitch adopts parallel-connection structure to connect, in each joint, only two letters
Number transmission line passes through, and will not increase because of the joint of detection, and signal transmssion line is increased, thus affecting the accessible fortune in joint
Dynamic.
4. when detecting, the first microswitch and the second microswitch close, and the 3rd microswitch and the 4th microswitch are broken
When opening, front end sensing pole plate polypyrrole conductive fabric capacitor plate and time front end sensing pole plate polypyrrole conductive fabric capacitor plate
Constitute polypyrrole conductive fabric capacitor plate pair, for detecting the movement angle of the first joint；Second microswitch and the 3rd
Microswitch closes, when the first microswitch and the 4th microswitch disconnect, secondary front end sensing pole plate polypyrrole conductive fabric electricity
Hold pole plate and time rear end sensing pole plate polypyrrole conductive fabric capacitor plate constitutes polypyrrole conductive fabric capacitor plate pair, be used for
Movement angle at detection second joint；3rd microswitch and the 4th microswitch closure, the first microswitch and second micro-
Dynamic when switching off, secondary rear end sensing pole plate polypyrrole conductive fabric capacitor plate and rear end sensing pole plate polypyrrole conductive fabric
Capacitor plate constitutes polypyrrole conductive fabric capacitor plate pair, for detecting the movement angle of the 3rd joint.Each sensing pole plate
Between adopt parallel-connection structure to connect by shielded conductor and microswitch, and the various combination of microswitch is so as to appointing
When one angle is detected, only two pieces capacitor plate detection circuit for access, it is to avoid other capacitor plates and Detection electrode it
Between coupled capacitor impact.
5., in traditional detection scheme, one piece of detection chip and two capacitor plates can only detect the motion in a joint
Angle, under multi-joint angle testing conditions, needs multiple detection chip and capacitor plate, thus leading to the wire of whole system
Increase, supply module increases, detecting system overall volume increases, weight increases, and leads to the obstacle sense of joint motions to dramatically increase；
Simultaneously because the increase of detection chip, increased cost and the complexity of system, lead to the reliability of system to reduce.And the present invention
The each sensing pole plate of whole detection sensor-based system between adopt parallel-connection structure to connect by shielded conductor and microswitch, Yi Jiwei
The various combination of dynamic switch it is achieved that only having used the detection that one piece of detection chip is realized to multiple independent joint movement angles,
Only need to a power module and achieve that the power supply to whole system, decrease signal and draw wire and weak capacitance detection core
The number of piece, decreases the volume and weight of system it is achieved that detecting to the " stealthy " of joint angles, using a small amount of detection core
Piece, reduces the cost of system it is ensured that the reliability of system.Additionally, the present invention is by the folding control to microswitch, real
The different folding combination of existing 4 microswitch, and then achieve 4 pieces of polypyrrole conductive fabric capacitor plates to 3 independent joints
The WD motion detection of movement angle.
Brief description
Fig. 1 is the multi-joint angle integration paralleled detection systems circuit connection signal based on flexible fabric of the present invention
Figure.
Fig. 2 is the three joint angles detection sensing system circuit connection diagrams based on flexible fabric of the present invention.
Fig. 3 is the multi-joint angle integration paralleled detection systems block diagram based on flexible fabric of the present invention.
Fig. 4 is the schematic diagram of traditional detection scheme.
Fig. 5 is the schematic diagram of the detection scheme of the present invention.
Fig. 6 is the sensing pole plate layering schematic diagram schematic diagram of the present invention.
Fig. 7 is the laminated conjunction stacking schematic diagram of the present invention.
Fig. 8 is shielded conductor generalized section at the A-A of the present invention.
Fig. 9 is the voltage follower enlarged diagram of the present invention.
Figure 10 is that the shielded conductor of the present invention is respectively laminated conjunction stacking schematic diagram.
Figure 11 is the schematic diagram of traditional earth-shielded schematic diagram.
Figure 12 is the driving shielding schematic diagram of the shielded conductor of the present invention.
Figure 13 is the earth-shielded wire connection diagram of traditional pole plate.
Figure 14 is the driving shielded conductor connection diagram of the sensing pole plate of the present invention.
Figure 15 is the earth-shielded schematic diagram of traditional pole plate.
Figure 16 is the driving shielding schematic diagram of the sensing pole plate of the present invention.
Figure 17 is that the microswitch of the present invention arranges schematic diagram.
Figure 18 is that the joint angles of the present invention detect stereogram.
It is embodied as example
Embodiment 1
A kind of many support arms multi-joint angle integration paralleled detection systems based on flexible fabric, as shown in figure 1, include：
First polypyrrole fabric conductor cable output bus H1, the second polypyrrole fabric conductor cable output bus H2, elasticity electric insulation base
Microswitch that bottom 2 is corresponded with each support arm and be located at respectively each joint both sides the first sensing pole plate I-I,
Second sensing pole plate II-II, is provided with flexible polyimide insulation in the first sensing pole plate I-I and the second sensing pole plate II-II
Protective layer P, described first sensing pole plate I-I and the second sensing pole plate II-II adopt sensing unit structures, described sensing unit knot
Structure includes facing polypyrrole conductive fabric capacitor plate C and polypyrrole conductive fabric stratum G, in polypyrrole conductive fabric electricity
Hold and be provided with conductive silicon rubber screen layer B, in polypyrrole conductive fabric capacitance pole between pole plate C and polypyrrole conductive fabric stratum G
It is filled with the first flexible-epoxy insulating barrier I between plate C and conductive silicon rubber screen layer B1, in conductive silicon rubber screen layer B
It is provided with the second flexible-epoxy insulating barrier I and polypyrrole conductive fabric stratum G between2, described polypyrrole conductive fabric electric capacity
Pole plate C is located on the lower surface of flexible polyimide insulating protective layer P, and described polypyrrole conductive fabric stratum G is located at elasticity electricity
On the upper surface of dielectric base layer 2, one end of one of adjacent microswitch microswitch pass through shielded conductor with corresponding
The first sensing pole plate I-I in polypyrrole conductive fabric capacitor plate C connect, one of adjacent microswitch microswitch
The other end pass through shielded conductor and the first polypyrrole fabric conductor cable output bus H1Connect, another in adjacent microswitch
Shielded conductor and the polypyrrole conductive fabric electricity in the second corresponding sensing pole plate II-II are passed through in one end of one microswitch
Hold pole plate C to connect, the other end of another microswitch in adjacent microswitch is knitted with the second polypyrrole by shielded conductor
Thing conductor cable output bus H2Connect, be additionally provided with voltage follower D, neighboring voltage follower in described sensing unit structures
The in-phase end of one of D voltage follower D respectively with the polypyrrole fabric conductor cable signals layer S of corresponding shielded conductor and
The connection of polypyrrole conductive fabric capacitor plate C, the described end of oppisite phase of a voltage follower D and described voltage follow
The outfan of device D connects and the polypyrrole conductive fabric screen layer M with corresponding shielded conductor, the first polypyrrole fabric conductor wire
Cable output bus H1Conductive silicon rubber screen layer B of polypyrrole conductive fabric screen layer M and shielded conductor connects, neighboring voltage with
In-phase end with another voltage follower D in device D is believed with the polypyrrole fabric conductor cable of corresponding shielded conductor respectively
Number floor S and polypyrrole conductive fabric capacitor plate C connect, and the described end of oppisite phase of another voltage follower D is another with described
The outfan of one voltage follower D connects and the polypyrrole conductive fabric screen layer M with corresponding shielded conductor, the second poly- pyrrole
Cough up fabric conductor cable output bus H2Conductive silicon rubber screen layer B of polypyrrole conductive fabric screen layer M and shielded conductor is even
Connect.
Embodiment 2
A kind of four support arm three joint angles detection sensor-based system based on flexible fabric, as shown in Fig. 2 include：Elasticity electricity
Dielectric base layer 2, respectively with four support arms in first support arm, second support arm, the 3rd support arm and the 4th support arm correspond
First microswitch 7, the second microswitch 8, the 3rd microswitch 9, the 4th microswitch 10 and front end sensing pole plate assembly
3rd, secondary front end sensing pole plate assembly 4, secondary rear end sensing pole plate assembly 5, rear end sensing pole plate assembly 6, front end sensing pole plate assembly 3
Positioned at the front end in the first joint, secondary front end sensing pole plate assembly 4 is located between the first joint and second joint, secondary rear end sensing pole
Board component 5 is located between second joint and the 3rd joint, and rear end sensing pole plate assembly 6 is located at the rear end in the 3rd joint, in front end
Set on sensing pole plate assembly 3, secondary front end sensing pole plate assembly 4, secondary rear end sensing pole plate assembly 5 and rear end sensing pole plate assembly 6
There are flexible polyimide insulating protective layer P, front end sensing pole plate assembly 3, secondary front end sensing pole plate assembly 4, secondary rear end sensing pole
Board component 5 and rear end sensing pole plate assembly 6 adopt sensing unit structures, and described sensing unit structures include facing polypyrrole
Conductive fabric capacitor plate C and polypyrrole conductive fabric stratum G, conductive in polypyrrole conductive fabric capacitor plate C and polypyrrole
It is provided with conductive silicon rubber screen layer B between the G of fabric stratum, shield with conductive silicon rubber in polypyrrole conductive fabric capacitor plate C
It is filled with the first flexible-epoxy insulating barrier I between layer B1, in conductive silicon rubber screen layer B and polypyrrole conductive fabric stratum
It is provided with the second flexible-epoxy insulating barrier I between G2, described polypyrrole conductive fabric capacitor plate C is located at flexible polyimide
On the lower surface of insulating protective layer P, described polypyrrole conductive fabric stratum G is located on the upper surface of elastic electrical insulating substrate layer 2,
The polypyrrole conductive fabric capacitance pole of shielded conductor and front end sensing pole plate assembly 3 is passed through in one end of described first microswitch 7
Plate C connection, the other end of the first microswitch 7 and the first polypyrrole fabric conductor cable output bus H1Connect, the second fine motion
One end of switch 8 is passed through shielded conductor and is connected with time polypyrrole conductive fabric capacitor plate C of front end sensing pole plate assembly 4, the
The other end of two microswitch 8 and the second polypyrrole fabric conductor cable output bus H2Connect, one end of the 3rd microswitch 9
It is connected with time polypyrrole conductive fabric capacitor plate C of rear end sensing pole plate assembly 5 by shielded conductor, the 3rd microswitch 9
The other end and the first polypyrrole fabric conductor cable output bus H1Connect, one end of the 4th microswitch 10 is led by shielding
Line is connected with polypyrrole conductive fabric capacitor plate C of rear end sensing pole plate assembly 6, the other end of the 4th microswitch 10 and
Two polypyrrole fabric conductor cable output bus H2Connect, be additionally provided with voltage follower D, front end in described sensing unit structures
The in-phase end of the voltage follower D in sensing pole plate assembly 3 and secondary rear end sensing pole plate assembly 5 respectively with corresponding shielded conductor
Polypyrrole fabric conductor cable signals layer S and polypyrrole conductive fabric capacitor plate C connect, front end sensing pole plate assembly 3 and
The end of oppisite phase of voltage follower D in secondary rear end sensing pole plate assembly 5 is connected with the outfan of described voltage follower D, and with
Polypyrrole conductive fabric screen layer M, the first polypyrrole fabric conductor cable output bus H of corresponding shielded conductor1Poly- pyrrole
Cough up conductive fabric screen layer M and the connection of conductive silicon rubber screen layer B, secondary front end sensing pole plate assembly 4 and rear end sensing pole plate group
The in-phase end of the voltage follower D in part 6 respectively with the polypyrrole fabric conductor cable signals layer S of corresponding shielded conductor and poly-
Pyrroles conductive fabric capacitor plate C connects, the voltage follow in secondary front end sensing pole plate assembly 4 and rear end sensing pole plate assembly 6
The end of oppisite phase of device D is connected with the outfan of described voltage follower D, and the polypyrrole conductive fabric screen with corresponding shielded conductor
Cover a layer M, the second polypyrrole fabric conductor cable output bus H2Polypyrrole conductive fabric screen layer M and conductive silicon rubber shielding
Layer B connects.
Described elastic electrical insulating substrate layer has resilient electrically insulating material by one layer and constitutes, and is layered on to be measured during measurement
Subject surface, is placed above sensing pole plate.Described four sensing pole plates, every piece of sensing pole plate is by flexible polyimide insulation protection
Layer P, polypyrrole conductive fabric capacitor plate layer C, the first flexible-epoxy insulating barrier I1, conductive silicon rubber screen layer B, second
Flexible-epoxy insulating barrier I2, polypyrrole conductive fabric stratum G constitute, wherein, polypyrrole conductive fabric capacitor plate layer C is
One layer of electroconductive textile material, forms polypyrrole conductive fabric capacitor plate C1-C4.Every piece of sensing pole plate comprises one piece of polypyrrole and leads
Electric fabric capacitor pole plate, sensing pole plate is placed on elastic electrical insulating substrate layer surface, and the polypyrrole in neighboring sensor pole plate is conductive
Fabric capacitor pole plate constitutes a polypyrrole conductive fabric capacitor plate pair, and its capacitance can be by electric capacity angle detection device 1
Weak capacitance detection chip measure, the angle change in tested joint cause polypyrrole conductive fabric capacitor plate between electric field
Spacing changes, thus changing the capacitance size between polypyrrole conductive fabric capacitor plate.
As Fig. 2, elastic electrical insulating substrate layer 2 has resilient electrically insulating material polytetrafluoroethylene film by one layer and constitutes,
This thickness degree is 0.1-0.5mm.Elastic electrical insulating substrate layer is layered on subject surface to be measured, and sensing pole plate is placed above.Fine motion is opened
Closing 7-9 and adopting conducting resistance is 8 Ω, and overall dimensions are less than 3mm × 3mm and distribution capacity（6.5pF）Much smaller than measured capacitance
Analog switch TS5A4597.
As Fig. 3, electric capacity angle detection device 1 is by power subsystem, capacitance detection unit, key circuit, 16 8-digit microcontrollers
MSP430F1611, wireless module, serial communication circuit, LCD display circuit, LED indicating circuit 8 part composition.Wherein 16 micro-
Controller MSP430F1611 is the core of whole detecting system, and it utilizes internal resource, controls the operation of whole system, carries out
The collection of data, calculation process, display and communication；Capacitance detection unit is by cable shield circuit, signal conditioning circuit, faint electricity
Hold detection chip AD7746 to constitute, wherein weak capacitance detection chip AD7746 is by IIC mode and microcontroller
MSP430F1611 enters row data communication；Power subsystem small volume, lightweight button cell are as system power supply；Wireless mould
Block is used Bluetooth chip HM-11 as the wirelessly transferred chip of node angle signal；LCD display circuit, LED indicating circuit and press
Key circuit forms the Man Machine Interface of system, for showing test data, power supply instruction and debugging reset.
The angle electric capacity of joint is less, so this patent employs the AD7746 of Analog Devices semiconductor company
Weak capacitance detection chip detects to this electric capacity, and AD7746 is capable of the weak capacitive letter between floating type capacitor plate
Number carry out high-precision detection, and the result of detection is converted directly into digital signal, then pass through iic bus by capacitance data
It is sent to microcontroller.This patent adopts the microcontroller as the system for the low-power microprocessor MSP430F1611 of TI company
Device, it is changed to the capacitance data that AD7746 sends over, and transformation result is shown in electric capacity-angular transition algorithm
On LCD.MSP430 microcontroller select angle-data is sent to by host computer by wireless module, for host computer analyze and process and
Storage
As Fig. 4, in traditional detection scheme, one piece of detection chip and two capacitor plates can only detect a joint
Movement angle, under multi-joint angle testing conditions, need multiple detection chip and capacitor plate, thus leading to whole system
Wire increase, supply module increases, detecting system overall volume increase, weight increase, lead to joint motions obstacle sense show
Write and increase；Simultaneously because the increase of detection chip, increased cost and the complexity of system, lead to the reliability of system to reduce.
And in Fig. 5, the whole detection sensor-based system of the present invention has only used one piece of detection chip to realize to multiple independent joints motion angle
The detection of degree is it is only necessary to a power module achieves that the power supply to whole system, and decreases the number of wire, reduces
The volume and weight of system, it is achieved that " stealthy " detection to joint angles, using a small amount of detection chip, reduces system
Cost it is ensured that the reliability of system.
As Fig. 6, have four sensing pole plates 3-6, every piece of sensing pole plate is made up of 6 layers of flexible material：Protective layer P, electric capacity
Pole plate layer C, insulating barrier I1, screen layer B, insulating barrier I2, stratum G.Sensing pole plate outermost layer is protective layer P, and this layer is by flexible insulation
Material polyimides are constituted, and thickness is about 26 μm, for avoiding touching between adjacent plate to lead to testing circuit short circuit
Phenomenon.Next layer of protective layer P is capacitance pole flaggy C, and this layer adopts the electroconductive textile material that polypyrrole is constituted, and forms capacitance pole
Plate C1-C4, as the positive plate of Floating capacitor, this thickness degree is about 0.3mm.Capacitance pole next layer of flaggy C is insulating barrier I1, should
Layer is made up of flexible insulating material epoxy resin, and thickness is about 26 μm, for avoiding between capacitance pole flaggy C and screen layer B
Directly touch.Insulating barrier I1Next layer is screen layer B, and this layer is made up of conductive silicon rubber, and thickness is about 0.3mm, is used for avoiding
Electromagnetic field change between the Floating capacitor pole plate causing during capacitor plate bending.Next layer of screen layer B is insulating barrier I2, this layer
It is made up of flexible insulating material epoxy resin, thickness is about 26 μm, for avoiding directly touching between screen layer B and stratum G.
Sensing pole plate innermost layer is stratum G, and this layer adopts the electroconductive textile material that polypyrrole is constituted, and thickness is about 0.3mm, as floating
The negative plate of electric capacity.As Fig. 7, each layer stackup of sensing pole plate is simultaneously alignd, is then pressed together by way of hot pressing, always
Thickness is less than 1mm.Sensing pole plate can be bent with the motion of human body or stretch it is achieved that being agreed with the perfection of medicated clothing, reach
Wd detection to articulation angle.
As Fig. 8, Figure 10, shielded conductor includes polypyrrole fabric conductor cable signals layer S, in polypyrrole fabric conductor wire
The outside of cable signals layer S is provided with flexible-epoxy insulating barrier I3, in flexible-epoxy insulating barrier I3Outside be provided with polypyrrole
Conductive fabric screen layer M, is provided with flexible polyimide insulating barrier I in the outside of polypyrrole conductive fabric screen layer M4, wherein, gather
Pyrroles fabric conductor cable signals layer S is connected with the input of its voltage follower, and polypyrrole conductive fabric screen layer M is electric with it
The outfan of pressure follower is connected, in its voltage follower（As Fig. 9）In the presence of, polypyrrole conductive fabric screen layer M shields
External electromagnetic signal is to the interference of polypyrrole fabric conductor cable signals layer S it is achieved that believing to polypyrrole fabric conductor cable
The driving shielding of number floor S signal is so that polypyrrole conductive fabric screen layer M signal is to polypyrrole fabric conductor cable signals layer S
Accurate tracking in phase and amplitude for the signal.Polypyrrole fabric conductor cable signals layer S and polypyrrole conductive fabric screen layer M
It is the electroconductive textile material that polypyrrole is constituted, flexible-epoxy insulating barrier I3It is the flexible insulating material that epoxy resin is constituted,
Flexible polyimide insulating barrier I4It is the flexible insulating material that polyimides are constituted, wherein polypyrrole fabric conductor cable signals layer
S is strip compliant conductive fabric, as the heart yearn of shielded conductor；Polypyrrole fabric conductor cable signals layer S top and bottom respectively have
One layer of flexible-epoxy insulating barrier I being made up of epoxy resin3, flexible-epoxy insulating barrier I3Polypyrrole fabric is conductive
Layer S is fully wrapped around for cable signal；Polypyrrole conductive fabric screen layer M is strip compliant conductive fabric, and bag is in flexible ring oxygen tree
Fat insulating barrier I3Outward；Respectively there is one layer of flexible polyimide being made up of polyimides polypyrrole conductive fabric screen layer M top and bottom
Insulating barrier I4, flexible polyimide insulating barrier I4Will be fully wrapped around for fabric conductor cable screen layer.As Figure 10, each layer of shielded conductor
It is laminated and aligns, then pressed together by way of hot pressing, gross thickness is about 1mm.
As Figure 11, the wire in traditional detection scheme adopts common copper cash or coaxial wire, and common copper cash do not adopt
Shield technology, if wire is long, the result making capacitance detecting is produced larger error by the coupled capacitor between wire；And coaxial cable
Line is too slightly so that the motion in joint has obvious obstacle sense, and the shielding of coaxial cable typically all adopts grounded shield, cable
Distribution capacity between line signal and shielding stratum affects the accuracy of testing result.And in Figure 12, the shielded conductor of the present invention
Using flexible material so that shielded conductor can be random bending or stretching, decrease the obstacle sense of joint motions, adopt simultaneously
Drive shielding, both eliminate polypyrrole fabric conductor cable signals layer S and polypyrrole conductive fabric in traditional earth-shielded schematic diagram mode
The impact of the distribution capacity between screen layer M, eliminates generation coupled capacitor between the wire causing because wire is long again
Impact.
As Figure 13, constitute between polypyrrole conductive fabric capacitor plate layer C and polypyrrole conductive fabric stratum G a pair and gather
Pyrroles's conductive fabric capacitor plate pair, polypyrrole conductive fabric capacitor plate layer C and above-mentioned voltage follower（As Fig. 9）Defeated
Enter end to be connected, conductive silicon rubber screen layer B is connected with the outfan of above-mentioned voltage follower, in the presence of voltage follower,
Conductive silicon rubber screen layer B shields the impact to polypyrrole conductive fabric capacitor plate layer C for polypyrrole conductive fabric stratum G,
Achieve the driving shielding to polypyrrole conductive fabric capacitor plate layer C signal, solve in Figure 14, flexible sensing pole plate is curved
Qu Shi, causes the electromagnetic field between the electric capacity that polypyrrole conductive fabric capacitor plate layer C and polypyrrole conductive fabric stratum G are constituted to send out
Changing, thus affecting the electromagnetic field change between floating type polypyrrole conductive fabric capacitor plate C, leads to testing result error
Problem is it is ensured that or improve impact measurement result accuracy.
As Figure 15, the capacitor plate in traditional detection scheme adopts rigid material, makes joint motions there is certain obstacle
Sense, and adopt grounded shield, the distribution capacity between holding wire and shielding stratum affects the accuracy of testing result.And scheme
In 16, the sensing pole plate of the present invention, is reduced so that pole plate can bend with the motion in joint or stretch using flexible material
The obstacle sense of joint motions, simultaneously using driving shielding, when eliminating flexible sensing plate buckling or stretching, because polypyrrole is led
Electric fabric capacitor pole plate layer C and conductive silicon rubber screen layer B, conductive silicon rubber screen layer B and polypyrrole conductive fabric stratum G it
Between the micro-displacement that produces and the impact to testing result, and with polypyrrole conductive fabric stratum G, whole pole plate is wrapped up,
Avoid the interference to other all circuit of the electromagnetic signal of conductive silicon rubber screen layer B.
It is connected with microswitch by shielded conductor between sensing pole plate.The excitation end of capacitance detecting chips（EXC）Pass through
First polypyrrole fabric conductor cable output bus H1It is connected with one end of the second microswitch 8, the 4th microswitch 10 respectively,
Second microswitch 8, the other end of the 4th microswitch 10 are led with secondary front end sensing pole plate 4 polypyrrole respectively by shielded conductor
Electric fabric capacitor pole plate C2, rear end sensing pole plate 6 polypyrrole conductive fabric capacitor plate C4Connect, the signal of capacitance detecting chips
Input (CIN) passes through the second polypyrrole fabric conductor cable output bus H2Open with the first microswitch 7, the 3rd fine motion respectively
Close 9 one end connect, the first microswitch 7, the 3rd microswitch 9 the other end pass through shielded conductor respectively with front end sensing pole
Plate 3 polypyrrole conductive fabric capacitor plate C1, secondary rear end sensing pole plate 5 polypyrrole conductive fabric capacitor plate C3Connect.
The present invention joint angles detection sensing pole plate position as shown in Figure 17, Figure 18, wherein sensing pole plate
3-6 magnitude range is 20mm × 20mm to 50mm × 250mm.
Finger root joint J1The movement angle θ at place1Magnitude range be about 90 ° -180 °, carpal joint J2The unilateral motion at place
Angle, θ2Magnitude range be about 90 ° -180 °, elbow joint J3The movement angle θ at place3Magnitude range be about 30 ° -180 °.Detection
When every piece of sensing pole plate elastic band is strapped on each joint support arm outer surface, the first microswitch 7 is placed on finger
Root joint J1Near finger side, using shielded conductor respectively with front end sensing pole plate 3 in polypyrrole conductive fabric capacitance pole
Plate C1, the first polypyrrole fabric conductor cable output bus H1Connect；Second microswitch 8 is placed on carpal joint J2Near palm
Side, using shielded conductor respectively with secondary front end sensing pole plate 4 in polypyrrole conductive fabric capacitor plate C2, the second polypyrrole
Fabric conductor cable output bus H2Connect；3rd microswitch 9 is placed on elbow joint J3Near forearm side, led using shielding
Line respectively with secondary rear end sensing pole plate 5 in polypyrrole conductive fabric capacitor plate C3, the first polypyrrole fabric conductor cable defeated
Go out bus H1Connect；4th microswitch 10 be placed near big arm roots utilize shielded conductor respectively with rear end sensing pole plate 6
In polypyrrole conductive fabric capacitor plate C4, the second polypyrrole fabric conductor cable output bus H2Connect.Capacitance detecting device
1 is fixed on the position near shoulder for the human body back with a pocket-like cloth bag.
As detection finger root joint J1Unilateral movement angle θ1When, microcontroller MSP430F1611 controls the first fine motion to open
Close 7 and the second fine motion 8 switch closure, the 3rd microswitch 9 and the 4th microswitch 10 disconnect, and what at this moment AD7746 detected is
Front end sensing pole plate 3 polypyrrole conductive fabric capacitor plate C1With secondary front end sensing pole plate 4 polypyrrole conductive fabric capacitor plate C2
Constitute the electric capacity between polypyrrole conductive fabric capacitor plate pair；As detection carpal joint J2Unilateral movement angle θ2When, microcontroller
MSP430F1611 controls the second microswitch 8 and the 3rd microswitch 9 to close, the first microswitch 7 and the 4th microswitch 10
Disconnect, what at this moment AD7746 detected is time front end sensing pole plate 4 polypyrrole conductive fabric capacitor plate C2With secondary rear end sensing
Pole plate 5 polypyrrole conductive fabric capacitor plate C3Constitute the electric capacity between polypyrrole conductive fabric capacitor plate pair；When detection elbow closes
Section J3Unilateral movement angle θ3When, microcontroller MSP430F1611 controls the 3rd microswitch 9 and the 4th microswitch 10 to close
Close, the first microswitch 7 and the second microswitch 8 disconnect, what at this moment AD7746 detected is time rear end sensing pole plate 5 polypyrrole
Conductive fabric capacitor plate C3With rear end sensing pole plate 6 polypyrrole conductive fabric capacitor plate C4Constitute polypyrrole conductive fabric electricity
Hold the electric capacity between pole plate pair.The capacitance detecting is converted into digital quantity by AD7746, and is sent to microcontroller by iic bus
Device MSP430F1611, microcontroller passes through electric capacity-angle converting algorithm, capacitance is converted into corresponding angle, and passes through
LCD module shows, is sent to host computer by Bluetooth chip HM-11 simultaneously and carries out data storage and analysis.
Claims (2)
1. a kind of many support arms multi-joint angle integration paralleled detection systems based on flexible fabric are it is characterised in that include：The
One polypyrrole fabric conductor cable output bus（H1）, the second polypyrrole fabric conductor cable output bus（H2）, elasticity electric insulation
Microswitch and the first sensing pole plate being located at each joint both sides respectively that basal layer (2) is corresponded with each support arm
（Ⅰ-Ⅰ）, the second sensing pole plate（Ⅱ-Ⅱ）, in the first sensing pole plate（Ⅰ-Ⅰ）And second sensing pole plate（Ⅱ-Ⅱ）It is provided with flexibility
Polyimide insulative protective layer（P）, described first sensing pole plate（Ⅰ-Ⅰ）With the second sensing pole plate（Ⅱ-Ⅱ）Using sensing unit
Structure, described sensing unit structures include facing polypyrrole conductive fabric capacitor plate（C）With polypyrrole conductive fabric ground
Layer（G）, in polypyrrole conductive fabric capacitor plate（C）And polypyrrole conductive fabric stratum（G）Between be provided with conductive silicon rubber screen
Cover layer（B）, in polypyrrole conductive fabric capacitor plate（C）With conductive silicon rubber screen layer（B）Between be filled with the first flexible ring
Oxygen resin insulating barrier（I1）, in conductive silicon rubber screen layer（B）With polypyrrole conductive fabric stratum（G）Between to be provided with second flexible
Epoxy resin insulating layers（I2）, described polypyrrole conductive fabric capacitor plate（C）It is located at flexible polyimide insulating protective layer（P）
Lower surface on, described polypyrrole conductive fabric stratum（G）It is located on the upper surface of elastic electrical insulating substrate layer (2), adjacent micro-
Shielded conductor and the first corresponding sensing pole plate are passed through in one end of the first microswitch in dynamic switch（Ⅰ-Ⅰ）In polypyrrole
Conductive fabric capacitor plate（C）Connect, the other end of the first microswitch in adjacent microswitch passes through shielded conductor and the
One polypyrrole fabric conductor cable output bus（H1）Connect, screen is passed through in one end of the second microswitch in adjacent microswitch
Cover wire and the second corresponding sensing pole plate（Ⅱ-Ⅱ）In polypyrrole conductive fabric capacitor plate（C）Connect, adjacent fine motion
The other end of the second microswitch in switch passes through shielded conductor and the second polypyrrole fabric conductor cable output bus（H2）
Connect, in described sensing unit structures, be additionally provided with voltage follower（D）, neighboring voltage follower（D）In first voltage with
With device（D）The in-phase end polypyrrole fabric conductor cable signals layer with corresponding shielded conductor respectively（S）And polypyrrole is conductive
Fabric capacitor pole plate（C）Connect, described first voltage follower（D）End of oppisite phase and described first voltage follower（D）
Outfan connect and the polypyrrole conductive fabric screen layer with corresponding shielded conductor（M）, the first polypyrrole fabric conductor wire
Cable output bus（H1）, polypyrrole conductive fabric screen layer（M）And the conductive silicon rubber screen layer of shielded conductor（B）Connect, phase
Adjacent voltage follower（D）In second voltage follower（D）The in-phase end polypyrrole fabric with corresponding shielded conductor respectively
Conductor cable signals layer（S）And polypyrrole conductive fabric capacitor plate（C）Connect, described second voltage follower（D）Anti-
Second voltage follower described in Xiang Duanyu（D）Outfan connect and the polypyrrole conductive fabric screen with corresponding shielded conductor
Cover layer（M）, the second polypyrrole fabric conductor cable output bus（H2）, polypyrrole conductive fabric screen layer（M）And shielded conductor
Conductive silicon rubber screen layer（B）Connect.
2. a kind of four support arm three joint angles detection sensor-based system based on flexible fabric is it is characterised in that include：Elasticity electricity is absolutely
Edge basal layer (2), respectively with four support arms in first support arm, second support arm, the 3rd support arm and the 4th support arm correspond
First microswitch（7）, the second microswitch（8）, the 3rd microswitch（9）, the 4th microswitch（10）And front end sensing
Pole plate assembly（3）, secondary front end sensing pole plate assembly（4）, secondary rear end sensing pole plate assembly（5）, rear end sensing pole plate assembly（6）,
Front end sensing pole plate assembly（3）Positioned at the front end in the first joint, secondary front end sensing pole plate assembly（4）Positioned at the first joint and second
Between joint, secondary rear end sensing pole plate assembly（5）Between second joint and the 3rd joint, rear end sensing pole plate assembly（6）
Positioned at the rear end in the 3rd joint, in front end sensing pole plate assembly（3）, secondary front end sensing pole plate assembly（4）, secondary rear end sensing pole plate
Assembly（5）And rear end sensing pole plate assembly（6）It is provided with flexible polyimide insulating protective layer（P）, front end sensing pole plate assembly
（3）, secondary front end sensing pole plate assembly（4）, secondary rear end sensing pole plate assembly（5）And rear end sensing pole plate assembly（6）Using sensing
Cellular construction, described sensing unit structures include facing polypyrrole conductive fabric capacitor plate（C）Knit with polypyrrole conduction
Thing stratum（G）, in polypyrrole conductive fabric capacitor plate（C）And polypyrrole conductive fabric stratum（G）Between be provided with conductive silicon rubber
Glue screen layer（B）, in polypyrrole conductive fabric capacitor plate（C）With conductive silicon rubber screen layer（B）Between to be filled with first soft
Property epoxy resin insulating layers（I1）, in conductive silicon rubber screen layer（B）With polypyrrole conductive fabric stratum（G）Between be provided with second
Flexible-epoxy insulating barrier（I2）, described polypyrrole conductive fabric capacitor plate（C）It is located at flexible polyimide insulation protection
Layer（P）Lower surface on, described polypyrrole conductive fabric stratum（G）It is located on the upper surface of elastic electrical insulating substrate layer (2), institute
State the first microswitch（7）One end pass through shielded conductor and front end sensing pole plate assembly（3）Polypyrrole conductive fabric electric capacity
Pole plate（C）Connect, the first microswitch（7）The other end and the first polypyrrole fabric conductor cable output bus（H1）Connect,
Second microswitch（8）One end pass through shielded conductor and time front end sensing pole plate assembly（4）Polypyrrole conductive fabric electric capacity
Pole plate（C）Connect, the second microswitch（8）The other end and the second polypyrrole fabric conductor cable output bus（H2）Connect,
3rd microswitch（9）One end pass through shielded conductor and time rear end sensing pole plate assembly（5）Polypyrrole conductive fabric electric capacity
Pole plate（C）Connect, the 3rd microswitch（9）The other end and the first polypyrrole fabric conductor cable output bus（H1）Connect,
4th microswitch（10）One end pass through shielded conductor and rear end sensing pole plate assembly（6）Polypyrrole conductive fabric capacitance pole
Plate（C）Connect, the 4th microswitch（10）The other end and the second polypyrrole fabric conductor cable output bus（H2）Connect,
It is additionally provided with voltage follower in described sensing unit structures（D）, front end sensing pole plate assembly（3）And secondary rear end sensing pole plate assembly
（5）In voltage follower（D）The in-phase end polypyrrole fabric conductor cable signals layer with corresponding shielded conductor respectively（S）
And polypyrrole conductive fabric capacitor plate（C）Connect, front end sensing pole plate assembly（3）And secondary rear end sensing pole plate assembly（5）In
Voltage follower（D）End of oppisite phase and described front end sensing pole plate assembly（3）And secondary rear end sensing pole plate assembly（5）In electricity
Pressure follower（D）Outfan connect, and the polypyrrole conductive fabric screen layer with corresponding shielded conductor（M）, the first poly- pyrrole
Cough up fabric conductor cable output bus（H1）Polypyrrole conductive fabric screen layer（M）And conductive silicon rubber screen layer（B）Connect,
Secondary front end sensing pole plate assembly（4）And rear end sensing pole plate assembly（6）In voltage follower（D）In-phase end respectively with accordingly
Shielded conductor polypyrrole fabric conductor cable signals layer（S）And polypyrrole conductive fabric capacitor plate（C）Connect, secondary front end
Sensing pole plate assembly（4）And rear end sensing pole plate assembly（6）In voltage follower（D）End of oppisite phase and described front end sensing
Pole plate assembly（4）And rear end sensing pole plate assembly（6）In voltage follower（D）Outfan connect, and with corresponding shield
The polypyrrole conductive fabric screen layer of wire（M）, the second polypyrrole fabric conductor cable output bus（H2）Polypyrrole conductive
Fabric screen layer（M）And conductive silicon rubber screen layer（B）Connect.
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| CN107890350A (en) * | 2017-11-18 | 2018-04-10 | 哈尔滨工业大学（威海） | A kind of wearable motion sensor, sensing circuit and method for testing motion |
| US20230019449A1 (en) * | 2019-12-05 | 2023-01-19 | Nitto Denko Corporation | Stretched porous polytetrafluoroethylene membrane, air-permeable medium using the same, and filter member using the same |
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| CN2358435Y (en) * | 1999-03-10 | 2000-01-12 | 中国科学院自动化研究所 | Flexiable angular transducer |
| CN102927899A (en) * | 2012-10-08 | 2013-02-13 | 东南大学 | Flexible shoulder joint motion sensor and measurement method thereof |
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| JPH0412201A (en) * | 1990-05-01 | 1992-01-16 | Komatsu Ltd | Detecting sensor for bending angle of articulation |
| US20070032748A1 (en) * | 2005-07-28 | 2007-02-08 | 608442 Bc Ltd. | System for detecting and analyzing body motion |
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| CN2358435Y (en) * | 1999-03-10 | 2000-01-12 | 中国科学院自动化研究所 | Flexiable angular transducer |
| CN102927899A (en) * | 2012-10-08 | 2013-02-13 | 东南大学 | Flexible shoulder joint motion sensor and measurement method thereof |
| CN103308024A (en) * | 2013-06-19 | 2013-09-18 | 哈尔滨工业大学 | Flexible joint angle sensor |
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